Unmanned Aerial Systems (UAS – a.k.a. drones) have evolved over the past decade as both advanced military technology and off-the-shelf consumer devices. There is a gradual shift towards public use of drones, which presents opportunities for effective remote procedures that can disrupt a variety of built environment disciplines. UAS equipment with remote sensing gear present an opportunity for analysis and inspection of existing building stocks , where architects, engineers, building energy auditors as well as owners can document building performance, visualize heat transfer using infrared imaging and create digital models using 3D photogrammetry . This paper presents a comprehensive review of various literature that addresses this topic, followed by the identification of a standard procedures for operating a UAS for energy audit missions. The presented framework is then tested on the Syracuse University campus site based on the literature review to showcase: 1) pre-flight inspection procedure parameters and methodologies; 2) during-flight visually identified areas of thermal anomalies using a UAS equipped with Infrared (IR) cameras and; 3) 3D CAD modeling developed through data gathered using UAS. A discussion of the findings suggests refining procedure accuracy through further empirical experimentation, as well as study replication, as a step towards standardizing the automation of building envelope inspection.